In recent years, the robotics community has witnessed the development of several software stacks for ground and articulated robots, such as Navigation2 and MoveIt. However, the same level of collaboration and standardization is yet to be achieved in the field of aerial robotics, where each research group has developed their own frameworks. This work presents Aerostack2, a framework for the development of autonomous aerial robotics systems that aims to address the lack of standardization and fragmentation of efforts in the field. Built on ROS 2 middleware and featuring an efficient modular software architecture and multi-robot orientation, Aerostack2 is a versatile and platform-independent environment that covers a wide range of robot capabilities for autonomous operation. Its major contributions include providing a logical level for specifying missions, reusing components and sub-systems for aerial robotics, and enabling the development of complete control architectures. All major contributions have been tested in simulation and real flights with multiple heterogeneous swarms. Aerostack2 is open source and community oriented, democratizing the access to its technology by autonomous drone systems developers.

翻译：近年来，机器人领域见证了如Navigation2和MoveIt等地面及关节机器人软件栈的发展。然而，在旋翼航空机器人领域尚未达到同样的协作与标准化水平，每个研究团队均开发了各自独立的框架。本文提出Aerostack2，一种面向自主航空机器人系统开发的框架，旨在解决该领域缺乏标准化与碎片化的问题。该框架基于ROS 2中间件构建，具备高效的模块化软件架构和多机器人导向特性，是一个支持自主操作多种机器人能力的通用且平台无关的环境。其主要贡献包括：提供用于任务指定的逻辑层级、复用航空机器人组件与子系统，以及实现完整控制架构的开发。所有主要贡献均已通过仿真及包含多架异构无人机的真实飞行实验验证。Aerostack2为开源且面向社区的框架，为自主无人机系统开发者普及了相关技术的访问权限。